CN207656686U - A kind of more structure state bionic machine robot mechanisms - Google Patents
A kind of more structure state bionic machine robot mechanisms Download PDFInfo
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- CN207656686U CN207656686U CN201721317639.8U CN201721317639U CN207656686U CN 207656686 U CN207656686 U CN 207656686U CN 201721317639 U CN201721317639 U CN 201721317639U CN 207656686 U CN207656686 U CN 207656686U
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Abstract
A kind of more structure state bionic machine robot mechanisms, including three extensible links and four close chain five-bar mechanisms, it is characterized in that, three extensible links include the first extensible link, the second extensible link and third extensible link, and four close chain five-bar mechanisms include the first close chain five-bar mechanisms, the second close chain five-bar mechanisms, third close chain five-bar mechanisms and the 4th close chain five-bar mechanisms.Since close chain five-bar mechanisms and extensible link deform, this robot mechanism has multiple structure states, has amphibious ability to work, by changing foot and contact area of ground, realizes and adapts to different road surfaces；The various motions such as pitching, overturning may be implemented again；By changing robot mechanism width, realizes and adapt to narrow working space；Its snakelike structure state adapts to underwater, the various complex work environment in land；Driving is simple, in the case where not changing driving device, can realize to the driving of each structure state of robot mechanism, can meet the job requirement of multitask.
Description
Technical field
The utility model is related to bionic machine robot mechanism design field, especially a kind of more structure state bionic machine robot mechanisms.
Background technology
With the continuous improvement of bio-robot technical merit, myriapod bio-robot, fish bio-robot, class
The achievement in research of bio-robot and amphibian animal bio-robot is increasingly abundant, rescue, field detection, seabed resources after calamity
The career fields such as exploitation, underwater salvage and trees training, have broad application prospects.
However, the working environment in face of becoming increasingly complex and higher and higher job requirement, the robot of single structure state
Mechanism is more and more unable to do what one wishes, and Chinese patent ZL 201410520580.7 discloses a kind of with flexible waist and elastic leg
Submissive quadruped robot, which has pitching, roll and deflection degree of freedom, but it is single that pedipulator is contacted with ground
Point contact form, in sand ground, marsh etc., particular job occasion is obviously insufficient；Chinese patent ZL 201010223020.7 is disclosed
A kind of Amphibious bionic turtle robot robot, can be achieved at the same time Land Movement gait and underwater exercise gait, but not consider multiple
Miscellaneous seabed working environment, the robot mechanism disclosed in other patents is similar with the two patents, cannot really realize flexibly
Adapt to environment.
This requires robots when land works, and faces actual working environment, pitching motion can be realized, in robot
It remains to work on after overturning, additionally it is possible to change robot width to adapt to narrow space, while when in soft terrain, it can be with
Change foot and contact area of ground, realizes safe and reliable work.When working under water, it is desirable that robot can reduce weight
The heart increases stability to reduce resistance, while can be with the structure state of bionical snake, and flexible adaptation is in the complicated ring such as seabed coral, reef
Border.
There are no can meet above-mentioned requirements, can be converted by structure state and realize amphibious work, while can be with flexible adaptation
Working environment, and drive simple bionic machine robot mechanism.
Utility model content
The utility model provides a kind of more structure state bionic machine robot mechanisms, and driving is simple, has land and two kinds underwater
Operating mode, at the same in two kinds of operating modes, and robot mechanism structure state can be changed, to adapt to complicated working environment,
With good environmental suitability, the job requirement of multitask can be met.
The utility model reaches above-mentioned purpose by the following technical programs：
A kind of more structure state bionic machine robot mechanisms, including three extensible links and four close chain five-bar mechanisms, feature
It is, three extensible links include the first extensible link, the second extensible link and third extensible link, described
Close chain five-bar mechanisms include the first close chain five-bar mechanisms, the second close chain five-bar mechanisms, third close chain five-bar mechanisms and the 4th closed chain
Five-rod, first close chain five-bar mechanisms include the first bar, the second bar, third bar, the 4th bar and the 5th bar, the first bar one
End is connected through the hinge with the first extensible link, and the other end is connected through the hinge with the second extensible link, second bar one end
It is connect with the first extensible link, and on the outside of the first bar, the other end is connected through the hinge with third bar one end, at third bar
On the outside of the second bar, the third bar other end is connected through the hinge with the 4th bar one end, and the 4th bar is on the outside of third bar, the 4th bar
The other end is connected through the hinge with the 5th bar one end, and the 5th bar is on the inside of the 4th bar, the 5th bar other end and second scalable
Connecting rod is connected through the hinge, and on the outside of the first bar；Second close chain five-bar mechanisms, including the 6th bar, the 7th bar, the 8th
Bar, the 9th bar and the tenth bar, the 6th bar one end are connected through the hinge with the second extensible link, and with the on the outside of the first bar
On the inside of five bars, the 6th bar other end is connected through the hinge with third extensible link, the 7th bar one end and the second extensible link
It is connected through the hinge, and on the outside of the 5th bar, the other end is connected through the hinge with the 8th bar one end, and the 8th bar is in the 7th
On the outside of bar, the 8th bar other end is connected through the hinge with the 9th bar one end, and the 9th bar is on the inside of the 8th bar, the 9th bar other end
It is connected through the hinge with the tenth bar one end, the tenth bar is on the inside of the 9th bar, and the tenth bar other end and the second extensible link are logical
Hinge connection is crossed, the tenth bar is on the outside of the 6th bar；The third close chain five-bar mechanisms, including the 11st bar, the 12nd bar,
13 bars, the 14th bar, the 15th bar, the 11st bar one end are connected through the hinge with the first extensible link, the other end and
Two extensible links are connected through the hinge, and the 12nd bar one end is connected through the hinge with the first extensible link, and are in the tenth
The outside of one bar, the 12nd bar other end are connected through the hinge with the 13rd bar one end, and the 13rd bar is in the 12nd bar
Outside, the 13rd bar other end are connected through the hinge with the 14th bar one end, and the 14th bar is in the outside of the 13rd bar, the
The 14 bar other ends are connected through the hinge with the 15th bar one end, and the 15th bar is in the inside of the 14th bar, the 15th bar
The other end is connected through the hinge with the second extensible link, and the 15th bar is in the outside of the 11st bar；4th closed chain
Five-rod, including the 16th bar, the 17th bar, the 18th bar, the 19th bar and the 20th bar, the 16th bar one end and second
Extensible link is connected through the hinge, and the 16th bar is in the inside in the outside and the 15th bar of the 11st bar, the 16th bar
The other end is connected through the hinge with third extensible link, and the 17th bar one end is connected through the hinge with the second extensible link,
And on the outside of the 15th bar, the 17th bar other end is connected through the hinge with the 18th bar one end, and the 18th bar is in the
The outside of 17 bars, the 18th bar other end are connected through the hinge with the 19th bar one end, and the 19th bar is in the 18th bar
Inside, the 19th bar one end is connected through the hinge with the 20th bar one end, and the 20th bar is in the inside of the 19th bar,
The 20 bar other ends are connected through the hinge with third extensible link, and the 20th bar is in the outside of the 16th bar.
A kind of more structure state bionic machine robot mechanisms, the first bar, the 6th bar, the 11st bar and the 16th pole length phase
Together；Second bar, third bar, the 4th bar, the 5th bar, the 7th bar, the 8th bar, the 9th bar, the 12nd bar of the tenth bar, the 13rd bar,
14th bar, the 15th bar, the 17th bar, the 19th bar of the 18th bar and the 20th pole length are identical, and length is first
The half of pole length.
As shown in Figure 1, the first structure state of more structure state bionic machine robot mechanisms thus, the second bar, the 5th bar, the 7th bar,
Ten bars, the 12nd bar, the 15th bar, the 17th and the 20th bar be drive member, this robot mechanism may be implemented and flexibly transport
It is dynamic.
As shown in Fig. 2, the second structure state of more structure state bionic machine robot mechanisms thus, the second bar, the 5th bar, the 7th bar,
Ten bars, the 12nd bar, the 15th bar, the 17th and the 20th bar be drive member, after robot mechanism is overturn, still may be used
To keep original movement, the requirement for adapting to complex environment is realized.
As shown in figure 3, the third structure state of more structure state bionic machine robot mechanisms thus, the 5th bar and the first bar be always at this time
Parallel, the 7th bar and the 6th bar are parallel always, and the 15th bar is parallel with the 11st bar always, the 17th bar always with the 16th bar
Parallel, four close chain five-bar mechanisms mechanisms are converted into four-bar mechanism, the second bar of driving, the tenth bar, the 12nd bar and the 20th
Bar, increases and contact area of ground, and step motion of the robot mechanism on soft terrain when this structure state may be implemented.
As shown in figure 4, the 4th kind of structure state of more structure state bionic machine robot mechanisms thus, third bar and the 4th bar are connected at this time
For same bar, the second bar and the 5th bar are parallel always, and the 8th bar and the 9th bar are connected as same bar, and the 7th bar and the tenth bar are always
Parallel, the 13rd bar and the 14th bar are connected as same bar, and the 12nd bar and the 15th bar are parallel always, the 18th bar and the tenth
Nine bars are connected as same bar, and the 17th bar and the 20th bar are parallel always, and four close chain five-bar mechanisms are converted into parallel four-bar
Mechanism, further increases and contact area of ground, the second bar of driving either the 7th bar of the 5th bar or the tenth bar, and the 12nd
Bar either the 17th dry or the 20th bar of the 15th bar, stepping of the mechanism on soft terrain when can also realize this Gou Tai
Movement.
As shown in figure 5, the 5th kind of structure state of more structure state bionic machine robot mechanisms thus, the second bar is overlapped with third bar at this time
For same bar, the 4th bar and the 5th bar are parallel with the first bar, and it is same bar, the 7th bar and the 8th that the 9th bar is overlapped with the tenth bar
Bar is parallel with the 6th bar, and it is same bar that the 12nd bar is overlapped with the 13rd bar, and the 14th bar and five bars of Shi are with the 11st
Bar is parallel, and it is same bar that the 19th bar is overlapped with the 20th bar, and the 17th bar and the 18th bar are parallel with the 16th bar, this structure
The center of gravity reduction of Tai Shi robots, compact-sized, the completion job requirement that can more stablize, the second bar of driving, the tenth bar, the tenth
The first bar of two bars, the 20th bar and driving, the 6th bar, the 11st bar and the 16th bar are rotated relative to the second extensible link,
The amphibious movement of the robot mechanism of this structure state may be implemented, as shown in Figure 6.
Above-mentioned five structures state robot mechanism may be implemented pitching motion, while the first extensible link, second can stretch
Contracting connecting rod and third extensible link are collapsible, to may be implemented to adapt to narrow working space again.
As shown in fig. 6, the 6th kind of structure state of more structure state bionic machine robot mechanisms thus, the first extensible link, second can
Shrinking connecting-rod and third extensible link are shunk, and the first bar and the fitting of the 11st bar, it is same that the second bar is overlapped with third bar at this time
One bar, the 4th bar and the 5th bar are parallel with the first bar, and it is same bar that the 9th bar is overlapped with the tenth bar, and the 7th bar and the 8th bar are equal
Parallel with the 6th bar, it is same bar that the 12nd bar is overlapped with the 13rd bar, and the 14th bar and five bars of Shi are flat with the 11st bar
Row, it is same bar that the 19th bar is overlapped with the 20th bar, and the 17th bar and the 18th bar are parallel with the 16th bar, at this time machine
Artificial snakelike structure state, the second bar of driving, the 5th bar, the 7th bar, the tenth bar or the 12nd bar, the 15th bar, the 17th bar and
20th bar can drive robot motion, this multiple structure state robot mechanism that can connect from beginning to end, the snake-shaped robot of formation
Mechanism, as shown in Figure 7, Figure 8.
The utility model has the prominent advantages that：
1, this bionic machine robot mechanism, driving is simple, has land and underwater two kinds of operating modes, in same driving effect
Under, expected action may be implemented in each structure state of robot mechanism.
2, this bionic machine robot mechanism has multiple structure states, both due to the deformation of each close chain five-bar mechanisms and shrinking connecting-rod
It can be required by changing foot and contact area of ground with adapting to different road surfaces；Robot mechanism width can be changed again, with
Adapt to narrow space；It remains to continue to move there is pitching motion and robot mechanism to overturn again after.
3, this bio-mechanism can meet in face of water-bed complicated working environment with bionical snake structure state, to adapt to various environment
Multitask demand.
Description of the drawings
Fig. 1 is a kind of first structure state schematic diagram of more structure state bionic machine robot mechanisms described in the utility model.
Fig. 2 is a kind of second structure state schematic diagram of more structure state bionic machine robot mechanisms described in the utility model.
Fig. 3 is a kind of third structure state schematic diagram of more structure state bionic machine robot mechanisms described in the utility model
Fig. 4 is a kind of 4th structure state schematic diagram of more structure state bionic machine robot mechanisms described in the utility model.
Fig. 5 is a kind of 5th structure state schematic diagram of more structure state bionic machine robot mechanisms described in the utility model.
Fig. 6 is a kind of 6th structure state schematic diagram of more structure state bionic machine robot mechanisms described in the utility model.
Fig. 7 is a kind of snakelike structure state schematic diagram of more structure state bionic machine robot mechanisms described in the utility model.
Fig. 8 is that a kind of snakelike structure state of more multiple unit compositions of structure state bionic machine robot mechanism described in the utility model is shown
It is intended to.
Meaning in attached drawing representated by each label：
1：First bar；2：Second bar；3：Third bar；4：4th bar；5：5th bar；6：6th bar；7：7th bar； 8：The
Eight bars；9：9th bar；10：Tenth bar；11：Third extensible link；12：16th bar；13：20th bar； 14：19th
Bar；15：18th bar；16：17th bar；17：Second extensible link；18：11st bar；19：15th bar；20：Tenth
Four bars；21：13rd bar；22：12nd bar；23：First extensible link.
Specific implementation mode
The technical solution of the utility model is clearly and completely described with reference to the accompanying drawings and embodiments, it is clear that real
It is only the utility model a part of the embodiment to apply example, instead of all the embodiments.Based on the embodiments of the present invention, originally
The every other embodiment that field technology personnel are obtained without making creative work, belongs to the utility model
The range of protection.
A kind of more structure state bionic machine robot mechanisms, including three extensible links and four close chain five-bar mechanisms, feature
It is, three extensible links include the first extensible link 23, the second extensible link 17 and third extensible link
11, the close chain five-bar mechanisms include the first close chain five-bar mechanisms, the second close chain five-bar mechanisms, third close chain five-bar mechanisms and the
Four close chain five-bar mechanisms, first close chain five-bar mechanisms include the first bar 1, the second bar 2, third bar 3, the 4th bar 4 and the 5th
Bar 5,1 one end of the first bar are connected through the hinge with the first extensible link 23, and the other end and the second extensible link 17 pass through hinge
Chain link, 2 one end of the second bar are connect with the first extensible link 23, and in 1 outside of the first bar, the other end and third bar 3 one
End is connected through the hinge, and third bar 3 is in 2 outside of the second bar, and 3 other end of third bar is connected through the hinge with 4 one end of the 4th bar,
4th bar 4 is in 3 outside of third bar, and 4 other end of the 4th bar is connected through the hinge with 5 one end of the 5th bar, and the 5th bar 5 is in the 4th
4 inside of bar, 5 other end of the 5th bar are connected through the hinge with the second extensible link 17, and in 1 outside of the first bar；Described
Two close chain five-bar mechanisms, including the 6th bar 6, the 7th bar 7, the 8th bar 8, the 9th bar 9 and the tenth bar 10,6 one end of the 6th bar and the
Two extensible links 17 are connected through the hinge, and in the outside of the first bar 1 and 5 inside of the 5th bar, 6 other end of the 6th bar and the
Three extensible links 11 are connected through the hinge, and 7 one end of the 7th bar is connected through the hinge with the second extensible link 17, and in the
Five bars, 5 outside, the other end are connected through the hinge with 8 one end of the 8th bar, and the 8th bar 8 is in 7 outside of the 7th bar, and the 8th bar 8 is another
One end is connected through the hinge with 9 one end of the 9th bar, and the 9th bar 9 is in 8 inside of the 8th bar, 9 other end of the 9th bar and the tenth bar 10
One end is connected through the hinge, and the tenth bar 10 is in 9 inside of the 9th bar, and 10 other end of the tenth bar passes through with the second extensible link 17
Hinge connection, the tenth bar 10 are in 6 outside of the 6th bar；The third close chain five-bar mechanisms, including the 11st bar 18, the 12nd bar
22, the 13rd bar 21, the 14th bar 20, the 15th bar 19,18 one end of the 11st bar pass through hinge with the first extensible link 23
Connection, the other end are connected through the hinge with the second extensible link 17, and 22 one end of the 12nd bar is logical with the first extensible link 23
Hinge connection is crossed, and the outside in the 11st bar 18,22 other end of the 12nd bar are connected with 21 one end of the 13rd bar by hinge
It connects, and the 13rd bar 21 is in the outside of the 12nd bar 22,21 other end of the 13rd bar and 20 one end of the 14th bar pass through hinge
Connection, and the 14th bar 20 is in the outside of the 13rd bar 21,20 other end of the 14th bar and 19 one end of the 15th bar pass through hinge
Chain link, and the 15th bar 19 is in the inside of the 14th bar 20,19 other end of the 15th bar and the second extensible link 17 are logical
Hinge connection is crossed, and the 15th bar 19 is in the outside of the 11st bar 18；4th close chain five-bar mechanisms, including the 16th bar
12, the 17th bar 16, the 18th bar 15, the 19th bar 14 and the 20th bar 13,12 one end of the 16th bar and the second scalable company
Bar 17 is connected through the hinge, and the 16th bar 12 is in the inside in the outside and the 15th bar 19 of the 11st bar 18, the 16th bar
12 other ends are connected through the hinge with third extensible link 11, and 16 one end of the 17th bar passes through hinge with the second extensible link 17
Chain link, and in 19 outside of the 15th bar, 16 other end of the 17th bar is connected through the hinge with 15 one end of the 18th bar, and the
18 bars 15 are in the outside of the 17th bar 16, and 15 other end of the 18th bar is connected through the hinge with 14 one end of the 19th bar, and
19th bar 14 is in the inside of the 18th bar 15, and 14 one end of the 19th bar is connected through the hinge with 13 one end of the 20th bar, and
20th bar 13 is in the inside of the 19th bar 14, and 13 other end of the 20th bar is connected with third extensible link 11 by hinge
It connects, and the 20th bar 13 is in the outside of the 16th bar 12.
A kind of more structure state bionic machine robot mechanisms, the first bar 1, the 6th bar 6, the 11st bar 18 and the 16th bar 12
Length is identical；Second bar 2, third bar 3, the 4th bar 4, the 5th bar 5, the 7th bar 7, the 8th bar 8, the 9th bar 9, the tenth bar 10
12 bars 22, the 13rd bar 21, the 14th bar 20, the 15th bar 19, the 17th bar 16, the 19th bar 14 of the 18th bar 15 and
20 bar, 13 length is identical, and length is the half of 1 length of the first bar.
As shown in Figure 1, the first structure state of more structure state bionic machine robot mechanisms thus, the second bar 2, the 5th bar 5, the 7th bar 7,
Tenth bar 10, the 12nd bar 22, the 15th bar the 19, the 17th and the 20th bar 13 are drive member, this machine may be implemented
Robot mechanism flexible motion.
As shown in Fig. 2, the second structure state of more structure state bionic machine robot mechanisms thus, the second bar 2, the 5th bar 5, the 7th bar 7,
Tenth bar 10, the 12nd bar 22, the 15th bar the 19, the 17th and the 20th bar 13 are drive member, and robot mechanism occurs
After overturning, original movement still can be kept, realizes the requirement for adapting to complex environment.
As shown in figure 3, the third structure state of more structure state bionic machine robot mechanisms thus, the 5th bar 5 and the first bar 1 begin at this time
Parallel eventually, the 7th bar 7 and the 6th bar 6 are parallel always, and the 15th bar 19 is parallel with the 11st bar 18 always, and the 17th bar 16 is always
Parallel with the 16th bar 12, four close chain five-bar mechanisms mechanisms are converted into four-bar mechanism, the second bar 2 of driving, the tenth bar 10, the
12 bars 22 and the 20th bar, increase and contact area of ground, and robot mechanism may be implemented when this structure state soft
Step motion on face.
As shown in figure 4, the 4th kind of structure state of more structure state bionic machine robot mechanisms thus, third bar 3 and the 4th bar 4 are solid at this time
It is linked as same bar, the second bar 2 and the 5th bar 5 are parallel always, and the 8th bar 8 and the 9th bar 9 are connected as same bar, the 7th bar 7 and
Ten bars 10 are parallel always, and the 13rd bar 21 and the 14th bar 20 are connected as same bar, and the 12nd bar and the 15th bar are always
Parallel, the 18th bar 15 and the 19th bar 14 are connected as same bar, and the 17th bar 16 and the 20th bar 13 are parallel always, and four are closed
Chain five-rod is converted into parallelogram lindage, further increases and contact area of ground, drives the second bar 2 or the 5th
Bar 5, the 7th bar 7 either the 12nd bar 22 of the tenth bar 10 either the 17th bar 16 of the 15th bar 19 or the 20th bar 13,
Step motion of the mechanism on soft terrain when this Gou Tai may be implemented.
As shown in figure 5, the 5th kind of structure state of more structure state bionic machine robot mechanisms thus, the second bar 2 and 3 weight of third bar at this time
Be combined into same bar, the 4th bar 4 and the 5th bar 5 are parallel with the first bar 1, the 9th bar 9 overlapped with the tenth bar 10 be same bar, the 7th
Bar 7 and the 8th bar 8 are parallel with the 6th bar 6, and it is same bar, 20 He of the 14th bar that the 12nd bar 22 is overlapped with the 13rd bar 21
15th bar 19 is parallel with the 11st bar 18, and it is same bar, 16 He of the 17th bar that the 19th bar 14 is overlapped with the 20th bar 13
18th bar 15 is parallel with the 16th bar 12, and robot center of gravity reduces, is compact-sized when this Gou Tai, can more stablize complete
At job requirement, the second bar 2 of driving, the tenth bar 10, the first bar 1 of the 12nd bar 22, the 20th bar 13 and driving, the 6th bar 6,
11st bar 18 and the 16th bar 12 are rotated relative to the second extensible link 17, and the two of the robot mechanism of this structure state may be implemented
It dwells movement, as shown in Figure 6.
Pitching motion may be implemented in above-mentioned five structures state robot mechanism, while the first extensible link 23, second can
Shrinking connecting-rod 17 and third extensible link 11 are collapsible, to may be implemented to adapt to narrow working space again.
As shown in fig. 6, the 6th kind of structure state of more structure state bionic machine robot mechanisms thus, the first extensible link 23, second
Extensible link 17 and third extensible link 11 are shunk, the first bar 1 and the fitting of the 11st bar 18, at this time the second bar 2 and third
It is same bar that bar 3, which overlaps, and the 4th bar 4 and the 5th bar 5 are parallel with the first bar 1, and it is same that the 9th bar 9 is overlapped with the tenth bar 10
Bar, the 7th bar 7 and the 8th bar 8 are parallel with the 6th bar 6, the 12nd bar 22 overlapped with the 13rd bar 21 be same bar, the 14th
Bar 20 and the 15th bar 19 are parallel with the 11st bar 18, the 19th bar 14 overlapped with the 20th bar 13 be same bar, the 17th
Bar 16 and the 18th bar 15 are parallel with the 16th bar 12, at this time the artificial snakelike structure state of machine, the second bar 2 of driving, the 5th bar 5,
7th bar 7, the tenth bar 10 or the 12nd bar 22, the 15th bar 19, the 17th bar 16 and the 20th bar 13 can drive machine
People moves, this multiple structure state robot mechanism can connect from beginning to end, the snake-shaped robot mechanism of formation, as shown in Figure 7, Figure 8.
Claims (2)
1. a kind of more structure state bionic machine robot mechanisms, including three extensible links and four close chain five-bar mechanisms, feature exist
In three extensible links include the first extensible link, the second extensible link and third extensible link, described to close
Chain five-rod includes the first close chain five-bar mechanisms, the second close chain five-bar mechanisms, third close chain five-bar mechanisms and the 4th closed chain five
Linkage, first close chain five-bar mechanisms include the first bar, the second bar, third bar, the 4th bar and the 5th bar, first bar one end
Be connected through the hinge with the first extensible link, the other end is connected through the hinge with the second extensible link, second bar one end with
First extensible link connects, and on the outside of the first bar, and the other end is connected through the hinge with third bar one end, and third bar is in
On the outside of second bar, the third bar other end is connected through the hinge with the 4th bar one end, and the 4th bar is on the outside of third bar, and the 4th bar is another
One end is connected through the hinge with the 5th bar one end, and the 5th bar is on the inside of the 4th bar, the 5th bar other end and the second scalable company
Bar is connected through the hinge, and on the outside of the first bar；Second close chain five-bar mechanisms, including the 6th bar, the 7th bar, the 8th
Bar, the 9th bar and the tenth bar, the 6th bar one end are connected through the hinge with the second extensible link, and with the on the outside of the first bar
On the inside of five bars, the 6th bar other end is connected through the hinge with third extensible link, the 7th bar one end and the second extensible link
It is connected through the hinge, and on the outside of the 5th bar, the other end is connected through the hinge with the 8th bar one end, and the 8th bar is in the 7th
On the outside of bar, the 8th bar other end is connected through the hinge with the 9th bar one end, and the 9th bar is on the inside of the 8th bar, the 9th bar other end
It is connected through the hinge with the tenth bar one end, the tenth bar is on the inside of the 9th bar, and the tenth bar other end and the second extensible link are logical
Hinge connection is crossed, the tenth bar is on the outside of the 6th bar；The third close chain five-bar mechanisms, including the 11st bar, the 12nd bar,
13 bars, the 14th bar, the 15th bar, the 11st bar one end are connected through the hinge with the first extensible link, the other end and
Two extensible links are connected through the hinge, and the 12nd bar one end is connected through the hinge with the first extensible link, and are in the tenth
The outside of one bar, the 12nd bar other end are connected through the hinge with the 13rd bar one end, and the 13rd bar is in the 12nd bar
Outside, the 13rd bar other end are connected through the hinge with the 14th bar one end, and the 14th bar is in the outside of the 13rd bar, the
The 14 bar other ends are connected through the hinge with the 15th bar one end, and the 15th bar is in the inside of the 14th bar, the 15th bar
The other end is connected through the hinge with the second extensible link, and the 15th bar is in the outside of the 11st bar；4th closed chain
Five-rod, including the 16th bar, the 17th bar, the 18th bar, the 19th bar and the 20th bar, the 16th bar one end and second
Extensible link is connected through the hinge, and the 16th bar is in the inside in the outside and the 15th bar of the 11st bar, the 16th bar
The other end is connected through the hinge with third extensible link, and the 17th bar one end is connected through the hinge with the second extensible link,
And on the outside of the 15th bar, the 17th bar other end is connected through the hinge with the 18th bar one end, and the 18th bar is in the
The outside of 17 bars, the 18th bar other end are connected through the hinge with the 19th bar one end, and the 19th bar is in the 18th bar
Inside, the 19th bar one end is connected through the hinge with the 20th bar one end, and the 20th bar is in the inside of the 19th bar,
The 20 bar other ends are connected through the hinge with third extensible link, and the 20th bar is in the outside of the 16th bar.
2. a kind of more structure state bionic machine robot mechanisms according to claim 1, the first bar, the 6th bar, the 11st bar and
16 pole lengths are identical；Second bar, third bar, the 4th bar, the 5th bar, the 7th bar, the 8th bar, the 9th bar, the tenth bar and the tenth
Two bars, the 13rd bar, the 14th bar, the 15th bar, the 17th bar, the 19th bar of the 18th bar and the 20th pole length are identical,
And length is the half of the first pole length.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107825412A (en) * | 2017-10-12 | 2018-03-23 | 广西大学 | A kind of more structure state bionic machine robot mechanisms |
| CN110077564A (en) * | 2019-05-15 | 2019-08-02 | 河海大学常州校区 | A kind of underwater eight biped robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107825412A (en) * | 2017-10-12 | 2018-03-23 | 广西大学 | A kind of more structure state bionic machine robot mechanisms |
| CN110077564A (en) * | 2019-05-15 | 2019-08-02 | 河海大学常州校区 | A kind of underwater eight biped robot |
| CN110077564B (en) * | 2019-05-15 | 2021-02-05 | 河海大学常州校区 | Underwater eight-foot robot |
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